qtopengl_box.cpp
Go to the documentation of this file.
1 
7 #include "qtopengl_box.h"
8 #include <argos3/core/utility/math/vector2.h>
9 #include <argos3/plugins/simulator/entities/led_equipped_entity.h>
10 #include <argos3/plugins/simulator/entities/box_entity.h>
11 #include <argos3/plugins/simulator/visualizations/qt-opengl/qtopengl_widget.h>
12 
13 namespace argos {
14 
15  /****************************************/
16  /****************************************/
17 
18  static const Real LED_RADIUS = 0.01f;
19  const GLfloat MOVABLE_COLOR[] = { 1.0f, 0.0f, 0.0f, 1.0f };
20  const GLfloat NONMOVABLE_COLOR[] = { 0.7f, 0.7f, 0.7f, 1.0f };
21  const GLfloat SPECULAR[] = { 0.0f, 0.0f, 0.0f, 1.0f };
22  const GLfloat SHININESS[] = { 0.0f };
23  const GLfloat EMISSION[] = { 0.0f, 0.0f, 0.0f, 1.0f };
24 
25  /****************************************/
26  /****************************************/
27 
28  CQTOpenGLBox::CQTOpenGLBox() :
29  m_unVertices(20){
30 
31  /* Reserve the needed display lists */
32  m_unBaseList = glGenLists(2);
33  m_unBodyList = m_unBaseList;
34  m_unLEDList = m_unBaseList + 1;
35 
36  /* Make body list */
37  glNewList(m_unBodyList, GL_COMPILE);
38  MakeBody();
39  glEndList();
40 
41  /* Make LED list */
42  glNewList(m_unLEDList, GL_COMPILE);
43  MakeLED();
44  glEndList();
45 
46  }
47 
48  /****************************************/
49  /****************************************/
50 
51  CQTOpenGLBox::~CQTOpenGLBox() {
52  glDeleteLists(m_unBaseList, 2);
53  }
54 
55  /****************************************/
56  /****************************************/
57 
58  void CQTOpenGLBox::DrawLEDs(CBoxEntity& c_entity) {
59  /* Draw the LEDs */
60  GLfloat pfColor[] = { 0.0f, 0.0f, 0.0f, 1.0f };
61  const GLfloat pfSpecular[] = { 0.0f, 0.0f, 0.0f, 1.0f };
62  const GLfloat pfShininess[] = { 100.0f };
63  const GLfloat pfEmission[] = { 0.0f, 0.0f, 0.0f, 1.0f };
64  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, pfSpecular);
65  glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, pfShininess);
66  glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, pfEmission);
67  CLEDEquippedEntity& cLEDEquippedEntity = c_entity.GetLEDEquippedEntity();
68  for(UInt32 i = 0; i < cLEDEquippedEntity.GetLEDs().size(); ++i) {
69  glPushMatrix();
70  /* Set the material */
71  const CColor& cColor = cLEDEquippedEntity.GetLED(i).GetColor();
72  pfColor[0] = cColor.GetRed() / 255.0f;
73  pfColor[1] = cColor.GetGreen() / 255.0f;
74  pfColor[2] = cColor.GetBlue() / 255.0f;
75  glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, pfColor);
76  /* Perform rototranslation */
77  const CVector3& cPosition = cLEDEquippedEntity.GetLEDOffset(i);
78  glTranslated(cPosition.GetX(), cPosition.GetY(), cPosition.GetZ());
79  /* Draw the LED */
80  glCallList(m_unLEDList);
81  glPopMatrix();
82  }
83  }
84 
85  /****************************************/
86  /****************************************/
87 
88  void CQTOpenGLBox::Draw(const CBoxEntity& c_entity) {
89  /* Draw the body */
90  if(c_entity.GetEmbodiedEntity().IsMovable()) {
91  glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, MOVABLE_COLOR);
92  }
93  else {
94  glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, NONMOVABLE_COLOR);
95  }
96  glPushMatrix();
97  glScaled(c_entity.GetSize().GetX(), c_entity.GetSize().GetY(), c_entity.GetSize().GetZ());
98  glCallList(m_unBodyList);
99  glPopMatrix();
100  }
101 
102  /****************************************/
103  /****************************************/
104 
105  void CQTOpenGLBox::MakeBody() {
106  /* Since this shape can be stretched,
107  make sure the normal vectors are unit-long */
108  glEnable(GL_NORMALIZE);
109 
110  /* Set the material */
111  glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, SPECULAR);
112  glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, SHININESS);
113  glMaterialfv(GL_FRONT_AND_BACK, GL_EMISSION, EMISSION);
114 
115  /* Let's start the actual shape */
116 
117  /* This part covers the top and bottom faces (parallel to XY) */
118  glBegin(GL_QUADS);
119  /* Bottom face */
120  glNormal3d(0.0f, 0.0f, -1.0f);
121  glVertex3d( 0.5f, 0.5f, 0.0f);
122  glVertex3d( 0.5f, -0.5f, 0.0f);
123  glVertex3d(-0.5f, -0.5f, 0.0f);
124  glVertex3d(-0.5f, 0.5f, 0.0f);
125  /* Top face */
126  glNormal3d(0.0f, 0.0f, 1.0f);
127  glVertex3d(-0.5f, -0.5f, 1.0f);
128  glVertex3d( 0.5f, -0.5f, 1.0f);
129  glVertex3d( 0.5f, 0.5f, 1.0f);
130  glVertex3d(-0.5f, 0.5f, 1.0f);
131  glEnd();
132  /* This part covers the faces (South, East, North, West) */
133  glBegin(GL_QUADS);
134  /* South face */
135  glNormal3d(0.0f, -1.0f, 0.0f);
136  glVertex3d(-0.5f, -0.5f, 1.0f);
137  glVertex3d(-0.5f, -0.5f, 0.0f);
138  glVertex3d( 0.5f, -0.5f, 0.0f);
139  glVertex3d( 0.5f, -0.5f, 1.0f);
140  /* East face */
141  glNormal3d(1.0f, 0.0f, 0.0f);
142  glVertex3d( 0.5f, -0.5f, 1.0f);
143  glVertex3d( 0.5f, -0.5f, 0.0f);
144  glVertex3d( 0.5f, 0.5f, 0.0f);
145  glVertex3d( 0.5f, 0.5f, 1.0f);
146  /* North face */
147  glNormal3d(0.0f, 1.0f, 0.0f);
148  glVertex3d( 0.5f, 0.5f, 1.0f);
149  glVertex3d( 0.5f, 0.5f, 0.0f);
150  glVertex3d(-0.5f, 0.5f, 0.0f);
151  glVertex3d(-0.5f, 0.5f, 1.0f);
152  /* West face */
153  glNormal3d(-1.0f, 0.0f, 0.0f);
154  glVertex3d(-0.5f, 0.5f, 1.0f);
155  glVertex3d(-0.5f, 0.5f, 0.0f);
156  glVertex3d(-0.5f, -0.5f, 0.0f);
157  glVertex3d(-0.5f, -0.5f, 1.0f);
158  glEnd();
159  /* The shape definitions is finished */
160 
161  /* We don't need it anymore */
162  glDisable(GL_NORMALIZE);
163  }
164 
165  /****************************************/
166  /****************************************/
167 
168  void CQTOpenGLBox::MakeLED() {
169  CVector3 cNormal, cPoint;
170  CRadians cSlice(CRadians::TWO_PI / m_unVertices);
171 
172  glBegin(GL_TRIANGLE_STRIP);
173  for(CRadians cInclination; cInclination <= CRadians::PI; cInclination += cSlice) {
174  for(CRadians cAzimuth; cAzimuth <= CRadians::TWO_PI; cAzimuth += cSlice) {
175 
176  cNormal.FromSphericalCoords(1.0f, cInclination, cAzimuth);
177  cPoint = LED_RADIUS * cNormal;
178  glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
179  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
180 
181  cNormal.FromSphericalCoords(1.0f, cInclination + cSlice, cAzimuth);
182  cPoint = LED_RADIUS * cNormal;
183  glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
184  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
185 
186  cNormal.FromSphericalCoords(1.0f, cInclination, cAzimuth + cSlice);
187  cPoint = LED_RADIUS * cNormal;
188  glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
189  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
190 
191  cNormal.FromSphericalCoords(1.0f, cInclination + cSlice, cAzimuth + cSlice);
192  cPoint = LED_RADIUS * cNormal;
193  glNormal3d(cNormal.GetX(), cNormal.GetY(), cNormal.GetZ());
194  glVertex3d(cPoint.GetX(), cPoint.GetY(), cPoint.GetZ());
195 
196  }
197  }
198  glEnd();
199  }
200 
201  /****************************************/
202  /****************************************/
203 
204  class CQTOpenGLOperationDrawBoxNormal : public CQTOpenGLOperationDrawNormal {
205  public:
206  void ApplyTo(CQTOpenGLWidget& c_visualization,
207  CBoxEntity& c_entity) {
208  static CQTOpenGLBox m_cModel;
209  c_visualization.DrawEntity(c_entity.GetEmbodiedEntity());
210  m_cModel.Draw(c_entity);
211  m_cModel.DrawLEDs(c_entity);
212  }
213  };
214 
215  class CQTOpenGLOperationDrawBoxSelected : public CQTOpenGLOperationDrawSelected {
216  public:
217  void ApplyTo(CQTOpenGLWidget& c_visualization,
218  CBoxEntity& c_entity) {
219  c_visualization.DrawBoundingBox(c_entity.GetEmbodiedEntity());
220  }
221  };
222 
223  REGISTER_QTOPENGL_ENTITY_OPERATION(CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawBoxNormal, CBoxEntity);
224 
225  REGISTER_QTOPENGL_ENTITY_OPERATION(CQTOpenGLOperationDrawSelected, CQTOpenGLOperationDrawBoxSelected, CBoxEntity);
226 
227  /****************************************/
228  /****************************************/
229 
230 }
UInt32
unsigned int UInt32
32-bit unsigned integer.
Definition: datatypes.h:97
Real
float Real
Collects all ARGoS code.
Definition: datatypes.h:39
argos
The namespace containing all the ARGoS related code.
Definition: ci_actuator.h:12
argos::MOVABLE_COLOR
const GLfloat MOVABLE_COLOR[]
Definition: qtopengl_box.cpp:19
argos::REGISTER_QTOPENGL_ENTITY_OPERATION
REGISTER_QTOPENGL_ENTITY_OPERATION(CQTOpenGLOperationDrawNormal, CQTOpenGLOperationDrawEPuckNormal, CEPuckEntity)
argos::SHININESS
const GLfloat SHININESS[]
Definition: qtopengl_prototype.cpp:26
argos::SPECULAR
const GLfloat SPECULAR[]
Definition: qtopengl_prototype.cpp:25
argos::EMISSION
const GLfloat EMISSION[]
Definition: qtopengl_prototype.cpp:27
argos::NONMOVABLE_COLOR
const GLfloat NONMOVABLE_COLOR[]
Definition: qtopengl_box.cpp:20
argos::CEmbodiedEntity::IsMovable
bool IsMovable() const
Returns true if the entity is movable.
Definition: embodied_entity.h:101
argos::CColor
The basic color type.
Definition: color.h:25
argos::CColor::GetBlue
UInt8 GetBlue() const
Returns the blue channel of the color.
Definition: color.h:101
argos::CColor::GetGreen
UInt8 GetGreen() const
Returns the green channel of the color.
Definition: color.h:90
argos::CColor::GetRed
UInt8 GetRed() const
Returns the red channel of the color.
Definition: color.h:79
argos::CRadians::PI
static const CRadians PI
The PI constant.
Definition: angles.h:49
argos::CRadians::TWO_PI
static const CRadians TWO_PI
Set to PI * 2.
Definition: angles.h:54
argos::CVector3
A 3D vector class.
Definition: vector3.h:31
argos::CVector3::GetX
Real GetX() const
Returns the x coordinate of this vector.
Definition: vector3.h:105
argos::CVector3::GetY
Real GetY() const
Returns the y coordinate of this vector.
Definition: vector3.h:121
argos::CVector3::GetZ
Real GetZ() const
Returns the z coordinate of this vector.
Definition: vector3.h:137
argos::CBoxEntity::GetEmbodiedEntity
CEmbodiedEntity & GetEmbodiedEntity()
Definition: box_entity.h:64
argos::CBoxEntity::GetLEDEquippedEntity
CLEDEquippedEntity & GetLEDEquippedEntity()
Definition: box_entity.h:72
argos::CBoxEntity::GetSize
const CVector3 & GetSize() const
Definition: box_entity.h:80
argos::CLEDEntity::GetColor
const CColor & GetColor() const
Returns the current color of the LED.
Definition: led_entity.h:58
argos::CLEDEquippedEntity
A container of CLEDEntity.
Definition: led_equipped_entity.h:36
argos::CLEDEquippedEntity::GetLED
CLEDEntity & GetLED(UInt32 un_index)
Returns an LED by numeric index.
Definition: led_equipped_entity.cpp:170
argos::CLEDEquippedEntity::GetLEDs
SActuator::TList & GetLEDs()
Returns all the LEDs.
Definition: led_equipped_entity.h:126
argos::CLEDEquippedEntity::GetLEDOffset
const CVector3 & GetLEDOffset(size_t un_idx) const
Returns the offset position of the given LED.
Definition: led_equipped_entity.h:136
argos::CQTOpenGLOperationDrawBoxNormal::ApplyTo
void ApplyTo(CQTOpenGLWidget &c_visualization, CBoxEntity &c_entity)
Definition: qtopengl_box.cpp:206
argos::CQTOpenGLOperationDrawBoxSelected::ApplyTo
void ApplyTo(CQTOpenGLWidget &c_visualization, CBoxEntity &c_entity)
Definition: qtopengl_box.cpp:217
argos::CQTOpenGLBox::DrawLEDs
virtual void DrawLEDs(CBoxEntity &c_entity)
Definition: qtopengl_box.cpp:58
argos::CQTOpenGLBox::Draw
virtual void Draw(const CBoxEntity &c_entity)
Definition: qtopengl_box.cpp:88
argos::CQTOpenGLWidget::DrawEntity
void DrawEntity(CPositionalEntity &c_entity)
Draws a positional entity.
Definition: qtopengl_widget.cpp:358
argos::CQTOpenGLWidget::DrawBoundingBox
void DrawBoundingBox(CEmbodiedEntity &c_entity)
Draws the bounding box of an embodied entity.
Definition: qtopengl_widget.cpp:428